We report observations of Rayleigh waves that orbit around Mars up to three times following the S1222a marsquake. Averaging these signals, we find the largest amplitude signals at 30 s and 85 s central period, propagating with distinctly different group velocities of 2.9 km/s and 3.8 km/s, respectively. The group velocities constraining the average crustal thickness beneath the great circle path rule out the majority of previous crustal models of Mars that have a >200 kg/m3 density contrast across the dichotomy. We find that the thickness of the martian crust is 42-56 km on average, and thus thicker than the crusts of the Earth and Moon. Together with thermal evolution models, a thick martian crust suggests that the crust must contain 50-70% of the total heat production to explain present-day local melt zones in the interior of Mars.

InSight’s seismometers recorded more than 1300 events. Ninety-eight of these, named the low-frequency family, show energy predominantly below 1 Hz down to ∼0.125 Hz. The Marsquake Service identified seismic phases and computed distances for 42 of these marsquakes, 26 of which have backazimuths. Hence, the locations of the majority of low-frequency family events remain undetermined. Here, we use an envelope shape similarity approach to determine event classes and distances, and introduce an alternative method to estimate the backazimuth. In our similarity approach, we use the highest quality marsquakes with well-constrained distance estimates as templates, including the largest event S1222a, and assign distances to marsquakes with relatively high signal-to-noise ratio based on their similarities to the template events. The resulting enhanced catalog allows us to re-evaluate the seismicity of Mars. We find the Valles Marineris region to be more active than initially perceived, where only a single marsquake (S0976a) had previously been located. We relocated two marsquakes using new backazimuth estimates, which had reported distances of ∼90o, in the SW of the Tharsis region, possibly at Olympus Mons. In addition, two marsquakes with little or no S-wave energy have been located in the NE of the Elysium Bulge. Event epicenters in Cerberus Fossae follow a North-South trend due to uncertainties in location, while the fault system is in the NW-SE direction; therefore, these events are re-projected along the observed fault system.

The seismic activity of a planet can be described by the corner magnitude, events larger than which are extremely unlikely, and the seismic moment rate, the long-term average of annual seismic moment release. Marsquake S1222a proves large enough to be representative of the global activity of Mars and places observational constraints on the moment rate. The magnitude-frequency distribution of relevant Marsquakes indicates a b-value of 1.17, but with its uncertainty and a volcanic region bias, b=1 is still possible. The moment rate is likely between 1.5e15 Nm/a and 1.6e18 Nm/a, with a marginal distribution peaking at 4.9e16 Nm/a. Comparing this with pre-InSight estimations shows that these tended to overestimate the moment rate, and that 30 % or more of the tectonic deformation may occur silently, whereas the seismicity is probably restricted to localized centers rather than spread over the entire planet.

The instrument package SEIS (Seismic Experiment for Internal Structure) with the three very broadband and three short-period seismic sensors is installed on the surface on Mars as part of NASA’s InSight Discovery mission. When compared to terrestrial installations, SEIS is deployed in a very harsh wind and temperature environment that leads to inevitable degradation of the quality of the recorded data. One ubiquitous artifact in the raw data is an abundance of transient one-sided pulses often accompanied by high-frequency spikes. These pulses, which we term “glitches”, can be modeled as the response of the instrument to a step in acceleration, while the spikes can be modeled as the response to a simultaneous step in displacement. We attribute the glitches primarily to SEIS-internal stress relaxations caused by the large temperature variations to which the instrument is exposed during a Martian day. Only a small fraction of glitches correspond to a motion of the SEIS package as a whole caused by minuscule tilts of either the instrument or the ground. In this study, we focus on the analysis of the glitch+spike phenomenon and present how these signals can be automatically detected and removed from SEIS’ raw data. As glitches affect many standard seismological analysis methods such as receiver functions, spectral decomposition and source inversions, we anticipate that studies of the Martian seismicity as well as studies of Mars’ internal structure should benefit from deglitched seismic data.

The InSight mission (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) has been collecting high-quality seismic data from Mars since February 2019, shortly after its landing. The Marsquake Service (MQS) is the team responsible for the prompt review of all seismic data recorded by the InSight’s seismometer (SEIS), marsquake event detection, and curating seismicity catalogues. Until sol 1011 (end of September 2021), MQS have identified 951 marsquakes that we interpret to occur at regional and teleseismic distances, and 1062 very short duration events that are most likely generated by local thermal stresses nearby the SEIS package. Here, we summarize the seismic data collected until sol 1011, version 9 of the InSight seismicity catalogue. We focus on the significant seismicity that occurred after sol 478, the end date of version 3, the last catalogue described in a dedicated paper. In this new period, almost a full Martian year of new data has been collected, allowing us to observe seasonal variations in seismicity that are largely driven by strong changes in atmospheric noise that couples into the seismic signal. Further, the largest, closest and most distant events have been identified, and the number of fully located events has increased from 3 to 7. In addition to the new seismicity, we document improvements in the catalogue that include the adoption of InSight-calibrated Martian models and magnitude scales, the inclusion of additional seismic body-wave phases, and first focal mechanism solutions for three of the regional marsquakes at distances ~30 degrees.

One of the goals of the InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) mission is to constrain the interior structure of Mars. We present a hierarchical transdimensional Bayesian approach to extract phase velocity dispersion and interior shear-wave velocity (VS) models from a single seismogram. This method was adapted to Mars from a technique recently developed for Earth (Xu & Beghein, 2019). Monte Carlo Markov Chains (MCMC) seek an ensemble of one dimensional (1-D) VS models between a source and a receiver that can explain the observed waveform. The models obtained are used to calculate the phase velocities of fundamental and higher modes at selected periods, and a subsequent analysis is performed to assess which modes were reliably measured. An advantage of our approach is that it can also fit unknown data noise, which reduces the risk of overfitting the data. In addition, uncertainties in the source parameters can be propagated, yielding more accurate model parameter uncertainties. In this paper, we first present our technique and discuss the challenges stemming from using a single station to characterize both structure and the source and from the absence of a Mars reference model. We then demonstrate the method feasibility using the MSS blind test data and our own synthetic data, which included realistic noise levels based on the noise recorded by InSight.

Seismic noise recorded at the surface of Mars has been monitored since February 2019, using the seismometers of the InSight lander. The noise on Mars is 500 times lower than on Earth at night and it increases during the day. We analyze its polarization as a function of time and frequency in the band 0.03-1Hz. We use the degree of polarization to extract signals with stable polarization whatever their amplitude. We detect polarized signals at all frequencies and all times. Glitches correspond to linear polarized signals which are more abundant during the night. For signals with elliptical polarization, the ellipse is in the horizontal plane with clockwise and anti-clockwise motion at low frequency (LF). At high frequency (HF), the ellipse is in the vertical plane and the major axis is tilted with respect to the vertical. Whereas polarization azimuths are different in the two frequency bands, they are both varying as a function of local time and season. They are also correlated with wind direction, particularly during the day. We investigate possible aseismic and seismic origin of the polarized signals. Lander or tether noise are discarded. Pressure fluctuation transported by environmmental wind may explain part of the HF polarization but not the tilt of the ellipse. This tilt can be obtained if the source is an acoustic emission in some particular case. Finally, in the evening when the wind is low, the measured polarized signals seems to correspond to a diffuse seismic wavefield that would be the Mars microseismic noise.

NASA’s InSight seismometer has been recording Martian seismicity since early 2019, and to date, over 1300 marsquakes have been catalogued by the Marsquake Service (MQS). Due to typically low signal-to-noise ratios (SNR) of marsquakes, their detection and analysis remain challenging: while event amplitudes are relatively low, the background noise has large diurnal and seasonal variations and contains various signals originating from the interactions of the local atmosphere with the lander and seismometer system. Since noise can resemble marsquakes in a number of ways, the use of conventional detection methods for catalogue curation is limited. Instead, MQS finds events through manual data inspection. Here, we present MarsQuakeNet (MQNet), a deep convolutional neural network for the detection of marsquakes and the removal of noise contamination. Based on three-component seismic data, MQNet predicts segmentation masks that identify and separate event and noise energy in time-frequency domain. As the number of catalogued MQS events is small, we combine synthetic event waveforms with recorded noise to generate a training data set. We apply MQNet to the entire continuous 20 samples-per-second waveform data set available to date, for automatic event detection and for retrieving denoised amplitudes. The algorithm reproduces all high quality-, as well as majority of low quality events in the manual, carefully curated MQS catalogue. Furthermore, MQNet detects 60% additional events that were previously unknown with mostly low SNR, that are verified in manual review. Our analysis on the event rate confirms seasonal trends and shows a substantial increase in the second Martian year.

Seismic observations involve signals that can be easily masked by noise injection. For InSight, NASA's lander on Mars, the atmosphere is a significant noise contributor for two thirds of a Martian day, and while the noise is below that seen at even the quietest sites on Earth, the amplitude of seismic signals on Mars is also considerably lower requiring an understanding and quantification of environmental injection at unprecedented levels. Mars' ground and atmosphere provide a continuous coupled seismic system, and although atmospheric functions are of distinct origins, the superposition of these noise contributions is poorly understood, making separation a challenging task. We present a novel method for partitioning the observed signal into seismic and environmental contributions. Pressure and wind fluctuations are shown to exhibit temporal cross-frequency coupling across multiple bands, injecting noise that is neither random nor coherent. We investigate this through comodulation, quantifying the signal synchrony in seismic motion, wind and pressure. By working in the time-frequency domain, we discriminate the origins of underlying processes and provide the site's environmental sensitivity. Our method aims to create a virtual vault at InSight, shielding the seismometers with effective post-processing in lieu of a physical vault. This allows us to describe the environmental and seismic signals over a sequence of sols, to quantify the wind and pressure injection, and estimate the seismic content of possible Marsquakes with a signal-to-noise ratio that can be quantified in terms of environmental independence. Finally, we exploit the temporal energy correlations for source attribution of our observations.

In early 2019, NASA’s InSight lander successfully deployed a single three-component very broadband seismometer (VBB) on the surface of Mars to detect and characterize marsquakes. Using these data, we present a method to infer the source mechanisms of marsquakes from waveforms of P and S waves recorded at a single station. We show that the three events with the highest signal-to-noise ratio (SNR) and a robust distance estimate S0173a, (May 23rd 2019), S0235b, (July 27th 2019) and S0183a, (June 3rd 2019) are all likely the results of normal faulting, suggesting an extensional regime mainly oriented south-east north-west in the respective source regions, Cerberus Fossae and Orcus Patera. We quantify the uncertainty of our solutions by comparing results of a direct inversion with a grid-search method.

Since landing on Mars, the NASA InSight lander has witnessed 8 Phobos and one Deimos transit. All transits could be observed by a drop in the solar array current and the surface temperature, but more surprisingly, for several ones, a clear signature was recorded with the seismic sensors and the magnetometer. We present a preliminary interpretation of the seismometer data as temperature induced local deformation of the ground, supported by terrestrial analog experiments and finite-element modelling. The magnetic signature is most likely induced by changing currents from the solar arrays. While the observations are not fully understood yet, the recording of transit-related phenomena with high sampling rate will allow more precise measurements of the transit times, thus providing additional constraints for the orbital parameters of Phobos. The response of the seismometer can potentially also be used to constrain the thermo-elastic properties of the shallow regolith at the landing site.